biotac.hpp

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/*
* @file   biotac.hpp
* @author Ugo Cupcic <ugo@shadowrobot.com>
* @date   Th Oct 20 10:06:14 2011
*
/* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* @brief This is a class for accessing the data from the
*        Biotac tactiles.
*
*
*/

#ifndef _BIOTAC_HPP_
#define _BIOTAC_HPP_

#include <vector>
#include <string>
#include <sr_robot_msgs/BiotacAll.h>
#include <sr_robot_msgs/Biotac.h>
#include <realtime_tools/realtime_publisher.h>

#include "sr_robot_lib/generic_tactiles.hpp"
#include "sr_robot_lib/generic_updater.hpp"

namespace tactiles
{
template<class StatusType, class CommandType>
class Biotac :
        public GenericTactiles<StatusType, CommandType>
{
public:
  Biotac(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
         operation_mode::device_update_state::DeviceUpdateState update_state);

  Biotac(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
         operation_mode::device_update_state::DeviceUpdateState update_state,
         boost::shared_ptr<std::vector<GenericTactileData> > init_tactiles_vector);

  /*
   * This function is called in the constructors, to initialize the necessary objects
   */
  void init(std::vector<generic_updater::UpdateConfig> update_configs_vector,
            operation_mode::device_update_state::DeviceUpdateState update_state);

  /*
   * This function is called each time a new etherCAT message
   * is received in the sr06.cpp driver. It  updates the tactile
   * sensors values contained in tactiles_vector.
   *
   * @param status_data the received etherCAT message
   */
  virtual void update(StatusType *status_data);

  /*
   * Publish the information to a ROS topic.
   *
   */
  virtual void publish();

  /*
   * This function adds the diagnostics for the tactiles to the
   * multi diagnostic status published by the hand.
   */
  virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
                               diagnostic_updater::DiagnosticStatusWrapper &d);


  virtual std::vector<AllTactileData> *get_tactile_data();

  void set_version_specific_details();

protected:
  size_t nb_electrodes_;

  static const size_t nb_electrodes_v1_;
  static const size_t nb_electrodes_v2_;
};  // end class
}  // namespace tactiles

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif /* _SHADOW_PSTS_HPP_ */